Advanced course "SINGULAR CONFIGURATIONS OF MECHANISMS AND MANIPULATORS"
Location: CISM - International Centre for Mechanical Sciences, Udine, Italy - www.cism.it
Dates: September 22 to 26, 2014
In singular configurations, the kinetostatic properties of mechanisms undergo sudden and dramatic changes. Hence the enormous practical value of singularity analysis for manipulator design and use. Its theoretical importance stems from the critical role singularity plays in algebraic geometry and in the theory of differentiable mappings. Attendees will be introduced to milestone results, key methods, and main problems in singularity analysis. The lectures provide an overview of cutting-edge work and focus on a few advanced topics.
Definition, rigorous definition of singularities
Classification, fundamental taxonomy, types of degeneracy of the forward and inverse velocity problems, constraint singularities of parallel manipulators, cusp-like and fold-like singularities
Identification, calculation of the singularity set, numerical partitioning of the ambient parameter space
Avoidance of singularities, escapements, workspace
Singularity-set and configuration-space topology
Mathematical tools and formalisms to analyze singularities in mechanisms, screw-geometrical techniques and Lie-group-based local-analysis methods
Manfred Husty (University Innsbruck, Innsbruck, Austria)
Jean Pierre Merlet (INRIA, Sophia Antipolis Cedex, France)
Andreas Mueller ( Shanghai Jiao Tong University, China)
Philippe Wenger (Institut de Recherche en Comm. et Cybernétique de Nantes, Nantes Cedex 3, France)
Dimiter Zlatanov (Università di Genova, Genova, Italy)
We would be grateful if you could forward this announcement to your colleagues.
Dimiter Zlatanov, Andreas Müller
- Course Coordinators -